MPC-based autonomous assignment algorithm for a swarm of satellites

This thesis was aimed for the Master of Science degree in Mechanical Engineering at The Delft University of Technology. The goal of this research was to formulate an assignment algorithm for autonomous guidance, control, and navigation system for spacecraft formation flying using a Model Predictive Control approach for estimation of fuel...

Obstacle avoidance for quadrotors using reinforcement learning and obstacle-airflow interactions

This research investigates and proposes a new method for obstacle detection and avoidance on quadrotors. One that does not require the addition of any sensors, but relies solely on measurements from the accelerometer and rotor controllers. The detection of obstacles is based on the principle that the airflow around a quadrotor changes when the...

Vision-based Autonomous Drone racing in GPS-denied Environments

High-speed autonomous flight of Micro Air Vehicles has gained much attention in recent years. However, flight in complex GPS-denied environments still poses a serious challenge. One scenario which contains these elements is drone racing, where pilots have to fly complex tracks at high speed, often in an indoor environment. In this work we...